The functionality and API is common with actionlib. Only exception is that the constructor take RTT::TaskContext* instead of nodeHandle. And there is additional method ActionServer::spinOnce() which do all communication and callbacks, it's should be called every TaskContext::updateHook(). Pozdrawiam Konrad Banachowicz 2010/9/15 Herman Bruyninckx > On Wed, 15 Sep 2010, Konrad Banachowicz wrote: > > I have written action server for orocos components. >> It's avalible in my repo at http://github.com/konradb3/RCPRG-ros-pkg . >> > > Could you explain in human terms what the design and the functionality is > that you have coded? > > Thanks! > > > Herman > > >> Pozdrawiam >> Konrad Banachowicz >> >> >> 2010/9/13 Vijay Pradeep >> Hi Herman, >> >> Please see my response on a new thread "actionlib design >> questions" >> >> Vijay >> >> On Mon, Sep 13, 2010 at 4:50 AM, Herman Bruyninckx >> wrote: >> On Mon, 13 Sep 2010, Konrad Banachowicz wrote: >> >> thx, >> I think that implementation of >> joint_trajectory_action in orocos would be safer >> solution, but is it possible to use action interface >> from orocos ? >> >> >> This raises an important _design_ discussion: the action >> interface is in >> many ways not a good design for coordination of activities. For >> example, >> the documentation on line gives examples of a "template" for a >> state >> machine that contains lots of "wrong" states (i.e., some states >> should be >> the same, but they have been giving wrong names) and (hence) >> misses >> appropriate state transitions. >> >> It could be nice to redesign ROS' action interface together with >> the FSM >> support in Orocos.... >> >> Herman >> >> >> >> Pozdrawiam >> Konrad Banachowicz >> >> >> 2010/9/13 Ruben Smits >> On Monday 13 September 2010 12:51:42 Konrad >> Banachowicz wrote: >> > Hi, >> > I'm going to integrate my manipulator control code >> with ROS. >> > I chose OROCOS as low-level controller. >> > I have component for communication with hardware >> and servoing. >> > Now i created component publishing JointState. >> > Everything works fine, but i don't know which >> interface should i chose >> for >> > control. I want to do trajectory execution inside >> OROCOS, because servo >> > controller require to get new set point within >> 1ms. I searched the >> > documentation, but i don't found which interface >> should be implemented >> by >> > arm controller to by compatible with ROS >> manipulation code. >> >> I think you should look at the interface of the >> http://www.ros.org/wiki/robot_mechanism_controllers >> and their opposite the >> http://www.ros.org/wiki/joint_trajectory_action >> >> If you implement the interface to your orocos-based >> controller as such that >> a >> joint_trajectory_action can be attached to it. >> >> Regards, >> Ruben >> >> >> >> >> >> -- >> K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research >> Group >> > >> Tel: +32 16 328056 >> EURON Coordinator (European Robotics Research Network) >> >> Open Realtime Control Services >> Associate Editor JOSER , IJRR >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> >> >> -- >> Vijay Pradeep >> Systems Engineer >> Willow Garage, Inc. >> vpradeep@willowgarage.com >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> >> >> >> > -- > K.U.Leuven, Mechanical Eng., Mechatronics & Robotics Research Group > > > Tel: +32 16 328056 > EURON Coordinator (European Robotics Research Network) < > http://www.euron.org> > Open Realtime Control Services > Associate Editor JOSER , IJRR > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >